Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi) More...

#include <ndcurves/sinusoidal.h>

Inheritance diagram for ndcurves::sinusoidal< Time, Numeric, Safe, Point >:

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Collaboration diagram for ndcurves::sinusoidal< Time, Numeric, Safe, Point >:

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Public Types
typedef Point	point_t

typedef Point	point_derivate_t

typedef Time	time_t

typedef Numeric	num_t

typedef sinusoidal< Time, Numeric, Safe, Point >	sinusoidal_t

typedef curve_abc< Time, Numeric, Safe, Point >	curve_abc_t

Public Types inherited from ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >
typedef Point	point_t

typedef Point_derivate	point_derivate_t

typedef Time	time_t

typedef Numeric	num_t

typedef curve_abc< Time, Numeric, Safe, point_t, point_derivate_t >	curve_t

typedef curve_abc< Time, Numeric, Safe, point_derivate_t >	curve_derivate_t

typedef std::shared_ptr< curve_t >	curve_ptr_t

Public Member Functions
	sinusoidal ()
	Empty constructor. Curve obtained this way can not perform other class functions.

	sinusoidal (const Point &p0, const Point &amplitude, const time_t T, const time_t phi, const time_t T_min=0., const time_t T_max=std::numeric_limits< time_t >::max())
	Constructor.

	sinusoidal (const time_t traj_time, const Point &p_init, const Point &p_final, const time_t T_min=0., const time_t T_max=std::numeric_limits< time_t >::max())
	Constructor from stationary points.

	sinusoidal (const sinusoidal_t &other)
	Copy constructor.

virtual	~sinusoidal ()
	Destructor.

virtual point_t	operator() (const time_t t) const
	Evaluation of the cubic spline at time t.

virtual point_derivate_t	derivate (const time_t t, const std::size_t order) const
	Evaluate the derivative of order N of curve at time t.

sinusoidal_t	compute_derivate (const std::size_t order) const
	Compute the derived curve at order N. Computes the derivative order N, $\frac{d^Nx(t)}{dt^N}$ of bezier curve of parametric equation x(t).

virtual sinusoidal_t *	compute_derivate_ptr (const std::size_t order) const
	Compute the derived curve at orderN.

virtual bool	isApprox (const sinusoidal_t &other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const
	isApprox check if other and *this are approximately equals given a precision threshold Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent.

virtual bool	isApprox (const curve_abc_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const

virtual bool	operator== (const sinusoidal_t &other) const

virtual bool	operator!= (const sinusoidal_t &other) const

virtual std::size_t	dim () const
	Get dimension of curve.

virtual num_t	min () const
	Get the minimum time for which the curve is defined.

virtual num_t	max () const
	Get the maximum time for which the curve is defined.

virtual std::size_t	degree () const
	Get the degree of the curve.

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Public Member Functions inherited from ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >
	curve_abc ()
	Constructor.

virtual	~curve_abc ()
	Destructor.

bool	isEquivalent (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision(), const size_t order=5) const
	isEquivalent check if other and *this are approximately equal by values, given a precision threshold. This test is done by discretizing both curves and evaluating them and their derivatives.

virtual bool	isApprox (const curve_t *other, const Numeric prec=Eigen::NumTraits< Numeric >::dummy_precision()) const =0
	isApprox check if other and *this are approximately equal given a precision threshold Only two curves of the same class can be approximately equal, for comparison between different type of curves see isEquivalent.

std::pair< time_t, time_t >	timeRange ()

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Public Member Functions inherited from ndcurves::serialization::Serializable
template<class Derived >
void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file.

template<class Derived >
void	saveAsText (const std::string &filename) const
	Saved a Derived object as a text file.

template<class Derived >
void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file.

template<class Derived >
void	saveAsXML (const std::string &filename, const std::string &tag_name) const
	Saved a Derived object as an XML file.

template<class Derived >
void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file.

template<class Derived >
void	saveAsBinary (const std::string &filename) const
	Saved a Derived object as an binary file.

Public Attributes
Point	p0_

Point	amplitude_

time_t	T_

time_t	phi_

time_t	T_min_

time_t	T_max_

std::size_t	dim_

Friends
class	boost::serialization::access

Detailed Description

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>
class ndcurves::sinusoidal< Time, Numeric, Safe, Point >

Represents a sinusoidal curve, evaluating the following equation: p0 + amplitude * (sin(2pi/T + phi)

Member Typedef Documentation

◆ curve_abc_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

typedef curve_abc<Time, Numeric, Safe, Point> ndcurves::sinusoidal< Time, Numeric, Safe, Point >::curve_abc_t

◆ num_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

typedef Numeric ndcurves::sinusoidal< Time, Numeric, Safe, Point >::num_t

◆ point_derivate_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

typedef Point ndcurves::sinusoidal< Time, Numeric, Safe, Point >::point_derivate_t

◆ point_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

typedef Point ndcurves::sinusoidal< Time, Numeric, Safe, Point >::point_t

◆ sinusoidal_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

typedef sinusoidal<Time, Numeric, Safe, Point> ndcurves::sinusoidal< Time, Numeric, Safe, Point >::sinusoidal_t

◆ time_t

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

typedef Time ndcurves::sinusoidal< Time, Numeric, Safe, Point >::time_t

Constructor & Destructor Documentation

◆ sinusoidal() [1/4]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

ndcurves::sinusoidal< Time, Numeric, Safe, Point >::sinusoidal ( )

inline

Empty constructor. Curve obtained this way can not perform other class functions.

◆ sinusoidal() [2/4]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

ndcurves::sinusoidal< Time, Numeric, Safe, Point >::sinusoidal	(	const Point &	p0,
		const Point &	amplitude,
		const time_t	T,
		const time_t	phi,
		const time_t	T_min = 0.,
		const time_t	T_max = std::numeric_limits<time_t>::max() )

inline

Constructor.

Parameters

p0	: Offset of the sinusoidal
amplitude	Amplitude
T	: The period
phi	: the phase
T_min	: lower bound of the time interval (default to 0)
T_max	: upper bound of the time interval (default to +inf)

◆ sinusoidal() [3/4]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

ndcurves::sinusoidal< Time, Numeric, Safe, Point >::sinusoidal	(	const time_t	traj_time,
		const Point &	p_init,
		const Point &	p_final,
		const time_t	T_min = 0.,
		const time_t	T_max = std::numeric_limits<time_t>::max() )

inline

Constructor from stationary points.

Parameters

traj_time	duration to go from p_init to p_final (half a period)
p_init	: first stationary point, either minimum or maximum
p_final	: second stationary point, either minimum or maximum
T_min	: lower bound of the time interval (default to 0)
T_max	: upper bound of the time interval (default to +inf)

◆ sinusoidal() [4/4]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

ndcurves::sinusoidal< Time, Numeric, Safe, Point >::sinusoidal ( const sinusoidal_t & other )

inline

Copy constructor.

Parameters

other

◆ ~sinusoidal()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual ndcurves::sinusoidal< Time, Numeric, Safe, Point >::~sinusoidal ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ compute_derivate()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

sinusoidal_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::compute_derivate ( const std::size_t order ) const

inline

Compute the derived curve at order N. Computes the derivative order N, $\frac{d^Nx(t)}{dt^N}$ of bezier curve of parametric equation x(t).

Parameters

order : order of derivative.

Returns: $\frac{d^Nx(t)}{dt^N}$ derivative order N of the curve.

◆ compute_derivate_ptr()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual sinusoidal_t * ndcurves::sinusoidal< Time, Numeric, Safe, Point >::compute_derivate_ptr ( const std::size_t order ) const

inlinevirtual

Compute the derived curve at orderN.

Parameters

order : order of derivative.

Returns: A pointer to $\frac{d^Nx(t)}{dt^N}$ derivative order N of the curve.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ degree()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual std::size_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::degree ( ) const

inlinevirtual

Get the degree of the curve.

Returns: , the degree of the curve.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ derivate()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual point_derivate_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::derivate	(	const time_t	t,
		const std::size_t	order ) const

inlinevirtual

Evaluate the derivative of order N of curve at time t.

Parameters

t	: time when to evaluate the spline.
order	: order of derivative.

Returns: $\frac{d^Nx(t)}{dt^N}$ , point corresponding on derivative curve of order N at time t.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ dim()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual std::size_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::dim ( ) const

inlinevirtual

Get dimension of curve.

Returns: dimension of curve.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ isApprox() [1/2]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual bool ndcurves::sinusoidal< Time, Numeric, Safe, Point >::isApprox	(	const curve_abc_t *	other,
		const Numeric	prec = Eigen::NumTraits<Numeric>::dummy_precision() ) const

inlinevirtual

◆ isApprox() [2/2]

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual bool ndcurves::sinusoidal< Time, Numeric, Safe, Point >::isApprox	(	const sinusoidal_t &	other,
		const Numeric	prec = Eigen::NumTraits<Numeric>::dummy_precision() ) const

inlinevirtual

isApprox check if other and *this are approximately equals given a precision threshold Only two curves of the same class can be approximately equals, for comparison between different type of curves see isEquivalent.

Parameters

other	the other curve to check
prec	the precision threshold, default Eigen::NumTraits<Numeric>::dummy_precision()

Returns: true is the two curves are approximately equals

◆ max()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual num_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::max ( ) const

inlinevirtual

Get the maximum time for which the curve is defined.

Returns: $t_{max}$ upper bound of time range.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ min()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual num_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::min ( ) const

inlinevirtual

Get the minimum time for which the curve is defined.

Returns: $t_{min}$ lower bound of time range.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ operator!=()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual bool ndcurves::sinusoidal< Time, Numeric, Safe, Point >::operator!= ( const sinusoidal_t & other ) const

inlinevirtual

◆ operator()()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual point_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::operator() ( const time_t t ) const

inlinevirtual

Evaluation of the cubic spline at time t.

Parameters

t	: time when to evaluate the spine

Returns: , point corresponding on curve at time t.

Implements ndcurves::curve_abc< Time, Numeric, Safe, Point, Point_derivate >.

◆ operator==()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

virtual bool ndcurves::sinusoidal< Time, Numeric, Safe, Point >::operator== ( const sinusoidal_t & other ) const

inlinevirtual

◆ serialize()

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

template<class Archive >

void ndcurves::sinusoidal< Time, Numeric, Safe, Point >::serialize	(	Archive &	ar,
		const unsigned int	version )

inline

Friends And Related Symbol Documentation

◆ boost::serialization::access

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

friend class boost::serialization::access

friend

Member Data Documentation

◆ amplitude_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

Point ndcurves::sinusoidal< Time, Numeric, Safe, Point >::amplitude_

◆ dim_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

std::size_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::dim_

◆ p0_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

Point ndcurves::sinusoidal< Time, Numeric, Safe, Point >::p0_

◆ phi_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

time_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::phi_

◆ T_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

time_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::T_

◆ T_max_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

time_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::T_max_

◆ T_min_

template<typename Time = double, typename Numeric = Time, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>>

time_t ndcurves::sinusoidal< Time, Numeric, Safe, Point >::T_min_

The documentation for this class was generated from the following files:

include/ndcurves/fwd.h
include/ndcurves/sinusoidal.h

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ curve_abc_t

◆ num_t

◆ point_derivate_t

◆ point_t

◆ sinusoidal_t

◆ time_t

Constructor & Destructor Documentation

◆ sinusoidal() [1/4]

◆ sinusoidal() [2/4]

◆ sinusoidal() [3/4]

◆ sinusoidal() [4/4]

◆ ~sinusoidal()

Member Function Documentation

◆ compute_derivate()

◆ compute_derivate_ptr()

◆ degree()

◆ derivate()

◆ dim()

◆ isApprox() [1/2]

◆ isApprox() [2/2]

◆ max()

◆ min()

◆ operator!=()

◆ operator()()

◆ operator==()

◆ serialize()

Friends And Related Symbol Documentation

◆ boost::serialization::access

Member Data Documentation

◆ amplitude_

◆ dim_

◆ p0_

◆ phi_

◆ T_

◆ T_max_

◆ T_min_